WO2020207104A1 - 车辆检查方法、装置、系统和计算机可读存储介质 - Google Patents

车辆检查方法、装置、系统和计算机可读存储介质 Download PDF

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Publication number
WO2020207104A1
WO2020207104A1 PCT/CN2020/073946 CN2020073946W WO2020207104A1 WO 2020207104 A1 WO2020207104 A1 WO 2020207104A1 CN 2020073946 W CN2020073946 W CN 2020073946W WO 2020207104 A1 WO2020207104 A1 WO 2020207104A1
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WIPO (PCT)
Prior art keywords
vehicle
ray source
rear edge
control point
passage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/073946
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English (en)
French (fr)
Inventor
王永明
涂俊杰
高川
许艳伟
喻卫丰
宗春光
胡煜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tsinghua University
Nuctech Co Ltd
Nuctech Beijing Co Ltd
Original Assignee
Tsinghua University
Nuctech Co Ltd
Nuctech Beijing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tsinghua University, Nuctech Co Ltd, Nuctech Beijing Co Ltd filed Critical Tsinghua University
Priority to US17/421,709 priority Critical patent/US12020518B2/en
Priority to PL439151A priority patent/PL249477B1/pl
Priority to GB2109939.5A priority patent/GB2594846B/en
Publication of WO2020207104A1 publication Critical patent/WO2020207104A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
    • G01V5/22—Active interrogation, i.e. by irradiating objects or goods using external radiation sources, e.g. using gamma rays or cosmic rays
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0816—Indicating performance data, e.g. occurrence of a malfunction
    • G07C5/0825—Indicating performance data, e.g. occurrence of a malfunction using optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
    • G01B15/04—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects

Definitions

  • the present disclosure relates to the field of security inspection technology, in particular to a vehicle inspection method, device, system and computer-readable storage medium.
  • the truck cab avoidance system is usually used in the rapid X-ray inspection of vehicles.
  • the vehicle passes through the X-ray inspection area by itself.
  • the inspection system passes through the cab, it emits radiation at a lower dose or does not emit radiation; waiting for the vehicle cab to pass the device After the position is fixed, the system then emits beams normally to meet the single absorbed dose limit requirement for the driver in radiation protection.
  • a vehicle inspection method which includes: acquiring vehicle profile information through a first sensor measured perpendicular to the direction of the passage, and determining characteristic points of the vehicle according to the vehicle profile information; The second sensor determines the position of the vehicle in the passage, and determines the position of the characteristic point according to the position of the vehicle in the passage; according to the position of the characteristic point and the position relationship of the ray source, the working mode of the ray source is switched based on a predetermined strategy.
  • the vehicle inspection method further includes: preheating the radiation source when it is determined that the vehicle enters the passage.
  • the vehicle inspection method further includes: when it is determined that the position of the vehicle in the passage reaches the predetermined sealing trigger point, stopping the preheating of the radiation source and entering the normal working state, wherein the sealing trigger point is located between the radiation source and the entrance of the passage between.
  • switching the working mode of the ray source based on a predetermined strategy according to the position relationship between the feature point and the position of the ray source includes: determining when the working mode of the ray source is switched according to the position relationship between the position of the feature point and the ray source Beam stopping control point or beam exit control point; when the front edge of the vehicle reaches the beam stop control point or beam exit control point, or the rear edge of the vehicle reaches the beam stop control point or beam exit control point, based on The predetermined strategy switches the working mode of the ray source.
  • switching the working mode of the ray source based on a predetermined strategy includes: Or when the position of the rear edge of the vehicle is equivalent to the corresponding beam control point, the ray source is controlled to start emitting rays in the following mode; when the position of the front edge of the vehicle or the rear edge of the vehicle is equivalent to the corresponding beam stop control point, the ray source is controlled to stop The current mode emits rays.
  • the beam stop control point and the beam exit control point are located on the side of the ray source away from the entrance of the channel.
  • the vehicle inspection method further includes: determining the number of working mode switching and the characteristic points of the corresponding vehicle in each switching according to a predetermined strategy; the number of beam stopping control points and beam exit control points and the number of working mode switching Match.
  • the first sensor is located on the side of the radiation source close to the entrance of the passage, and the distance between the radiation source and the first sensor is not less than a predetermined distance threshold.
  • the characteristic point includes the rear edge of the cab; according to the position of the characteristic point and the position relationship of the ray source, switching the working mode of the ray source based on a predetermined strategy includes: determining the driving according to the position of the rear edge of the cab in the vehicle profile information For the length of the room, determine the front position of the vehicle when the position of the rear edge of the cab is equivalent to the ray source as the beam control point; when the front of the vehicle is equivalent to the position of the beam control point, control the ray source to start emitting rays.
  • the characteristic point includes the rear edge of the cab; according to the position of the characteristic point and the position relationship of the ray source, switching the working mode of the ray source based on a predetermined strategy includes: determining the driving according to the position of the rear edge of the cab in the vehicle profile information For the length of the room, determine the position of the rear edge of the vehicle when the position of the rear edge of the cab is equivalent to the ray source as the beam exit control point; when the rear edge of the vehicle is equivalent to the position of the beam exit control point, control the ray source to start emitting rays.
  • the characteristic point includes the rear edge of the vehicle; according to the position of the characteristic point and the positional relationship of the ray source, switching the working mode of the ray source based on a predetermined strategy includes: determining when the vehicle is based on the position of the rear edge of the vehicle in the vehicle profile information The position of the rear edge of the vehicle when the position of the rear edge is equal to the position of the ray source is used as the beam stop control point; when the position of the rear edge of the vehicle is equal to the position of the beam stop control point, the ray source is controlled to stop emitting rays.
  • the characteristic point includes the rear edge of the vehicle; according to the position of the characteristic point and the position relationship of the ray source, switching the working mode of the ray source based on a predetermined strategy includes: determining the length of the vehicle according to the position of the rear edge of the vehicle in the vehicle profile information, Determine the position of the front of the vehicle when the rear edge of the vehicle is equivalent to the position of the ray source as the stop beam control point; when the front of the vehicle is equivalent to the position of the stop beam control point, control the ray source to stop emitting rays.
  • a vehicle inspection control device including: a vehicle profile information acquisition unit configured to acquire vehicle profile information through a first sensor measured perpendicular to the direction of the passage, according to the vehicle profile information Determine the characteristic points of the vehicle; the vehicle position determination unit is configured to determine the position of the vehicle in the passage through the second sensor measured along the direction of the passage, and determine the position of the characteristic points according to the position of the vehicle in the passage; the working mode determination unit is It is configured to switch the working mode of the ray source based on a predetermined strategy according to the position of the feature point and the positional relationship of the ray source.
  • a vehicle inspection control device including: a memory; and a processor coupled to the memory, and the processor is configured to execute any of the above based on instructions stored in the memory Vehicle inspection method.
  • a computer-readable storage medium on which computer program instructions are stored, and when the instructions are executed by a processor, the steps of any of the above vehicle inspection methods are implemented.
  • a vehicle inspection system which includes: a first sensor that measures perpendicular to the channel direction to obtain vehicle profile information; and measures along the channel direction to determine whether the vehicle is in the channel A second sensor located inside; a ray source located in the direction away from the entrance of the first sensor and emitting a ray beam to the channel; and, any of the above vehicle inspection control devices.
  • one or more second sensors are included in the vehicle inspection system.
  • one or more of the radiation sources are included in the vehicle inspection system.
  • FIG. 1 is a flowchart of some embodiments of the vehicle inspection method of the present disclosure.
  • FIG. 2 is a flowchart of other embodiments of the vehicle inspection method of the present disclosure.
  • 3A to 3E are schematic diagrams of some embodiments of the vehicle inspection method of the present disclosure.
  • FIG. 4 is a schematic diagram of some embodiments of the vehicle inspection control device of the present disclosure.
  • FIG. 5 is a schematic diagram of other embodiments of the vehicle inspection control device of the present disclosure.
  • FIG. 6 is a schematic diagram of still other embodiments of the vehicle inspection control device of the present disclosure.
  • FIG. 7 is a schematic diagram of some embodiments of the vehicle inspection system of the present disclosure.
  • a mode switching scheme in the process of vehicle detection is provided to improve the accuracy of the operating mode switching timing.
  • FIG. 1 The flowchart of some embodiments of the vehicle inspection method of the present disclosure is shown in FIG. 1.
  • step 101 vehicle contour information is acquired by the first sensor measured perpendicular to the direction of the passage, and the characteristic points of the vehicle are determined according to the vehicle contour information.
  • the characteristic points may include one or more of the rear edge of the cab, the front edge of the cargo warehouse, the rear edge of the vehicle, and the like.
  • the characteristic point may be any position on the vehicle where the operating mode of the ray source needs to be switched.
  • the position of the vehicle in the passage is determined by the second sensor measured along the direction of the passage, and the position of the characteristic point is determined according to the position of the vehicle in the passage.
  • the position of the front edge of the vehicle or the rear edge of the vehicle may be determined first, and then the distance between the front edge of the vehicle or the rear edge of the vehicle and the feature point is determined according to the vehicle profile information, so as to pass the detected position of the front edge of the vehicle or the rear edge of the vehicle Changes to reflect the changes in the location of feature points.
  • the first and second sensors may be laser sensors.
  • step 103 the working mode of the ray source is switched based on a predetermined strategy according to the position relationship between the position of the feature point and the ray source.
  • the position and side profile of the vehicle can be obtained based on the detection results of the first and second sensors, and then the timing for switching the working mode of the radiation source is determined through position matching, and the accuracy of the determined working mode switching timing is improved.
  • this method requires fewer sensors and requires less space for deploying equipment, which reduces the cost of equipment deployment and improves deployment flexibility.
  • FIG. 2 The flowcharts of other embodiments of the vehicle inspection method of the present disclosure are shown in FIG. 2.
  • the radiation source is warmed up.
  • the radiation source can emit a beam with a low dose in the preheating state, thereby reducing the time delay of the radiation source switching to the normal working state and improving the efficiency of mode switching.
  • step 202 when it is determined that the position of the vehicle in the passage reaches the predetermined sealing trigger point, the preheating of the radiation source is stopped and the normal working state is entered, where the sealing trigger point is located between the radiation source and the entrance of the passage.
  • the sealing trigger point may be located between the first sensor and the radiation source; in other embodiments, the sealing trigger point may also be located between the first sensor and the channel entrance.
  • the radiation source can be switched to enter the low-dose working state after the vehicle reaches the predetermined sealing trigger point, and the radiation dose in the low-dose working state meets the requirements for detection of the cab, so as to realize the subsequent detection of the cab.
  • step 203 the vehicle contour information is acquired by the first sensor measured perpendicular to the direction of the passage, and the characteristic points of the vehicle are determined according to the vehicle contour information.
  • the number of operating mode switching and the characteristic points of the corresponding vehicle in each switching may be determined according to a predetermined strategy, and the determined characteristic points may be one or more.
  • step 202 is executed;
  • step 203 is executed.
  • the first sensor may be a two-dimensional or three-dimensional laser sensor.
  • the first sensor is a two-dimensional laser sensor, which detects the direction of the road by scanning in the vertical direction, and generates a frame of data after each column of scanning is completed.
  • the contour recognition algorithm generates vehicle contour data until the entire vehicle is scanned, so that the vehicle contour recognition algorithm can be called at a certain frequency and the resource consumption of data processing is reduced.
  • step 204 the position of the vehicle in the passage is determined by the second sensor measured along the direction of the passage, and the position of the characteristic point is determined according to the position of the vehicle in the passage.
  • the beam stop control point or the beam exit control point when switching the working mode of the ray source is triggered.
  • the beam stop control point and the beam exit control point may be the position of the front edge of the vehicle or the rear edge of the vehicle when the position of the feature point is equivalent to the position of the ray source. Since the positions of the front and rear edges of the vehicle are easy to measure, there is no need to calculate the position of the feature points according to the vehicle profile parameters when the feature points of the vehicle reach the position of the ray source, which improves the efficiency of position matching.
  • the front position of the detected vehicle or the position of the rear edge of the vehicle can be determined according to the position relationship between the second sensor and the vehicle. For example, when the vehicle moves toward the second sensor and does not reach the position of the second sensor, the front position of the vehicle can be detected. ; When the vehicle moves away from the second sensor in the direction away from the second sensor position, the position of the rear edge of the vehicle can be detected; when the vehicle is passing the second sensor, you can choose to detect the front edge of the vehicle or the rear edge of the vehicle, or detect the front edge of the vehicle, The end of the rear edge of the vehicle that is closer to the second sensor.
  • the first sensor may stop collecting vehicle contour information after completing the scan of the cab part of the vehicle, and the second sensor may obtain the position information of the vehicle.
  • the number of beam stop control points and beam exit control points may be determined according to the determined number of feature points. In some embodiments, the number of feature points may be equal to the sum of the number of beam stop control points and the number of beam exit control points.
  • step 206 when it is determined according to the detection result of the first sensor that the front edge of the vehicle reaches the beam stop control point or the beam exit control point, or the rear edge of the vehicle reaches the beam stop control point or the beam exit control point, the radiation source is switched based on a predetermined strategy. Operating mode.
  • the ray source when the position of the front edge of the vehicle or the rear edge of the vehicle is equivalent to the corresponding beam control point, the ray source is controlled to start emitting rays in the following mode; when the position of the front edge of the vehicle or the rear edge of the vehicle corresponds to the beam stop control When the points are equal, control the ray source to stop emitting rays in the current mode.
  • the working mode the corresponding relationship with the identification points including the front edge of the vehicle or the rear edge of the vehicle, and the beam exit control point or the stop beam control point can be generated, such as when the front edge of the vehicle reaches the first beam exit control point.
  • the first working mode is activated.
  • the front edge of the vehicle reaches the second beam control point, it switches to the second working mode.
  • the third working mode is adopted to achieve Quick determination and switching of working modes.
  • different working modes may include different ray sources, different ray intensities, and different ray scanning modes.
  • the distance between the characteristic point and the identification point including the front edge of the vehicle or the rear edge of the vehicle, and the position of the ray source can be used to determine the position of the control point, and then when the front or rear edge of the vehicle reaches the corresponding control point Switch the working state of the ray source in time to improve the timeliness and accuracy of switching the working mode of the ray source, and avoid the safety risk of early beam ejection or the lack of scanning imaging caused by delayed beam ejection.
  • a one-dimensional coordinate system can be established along the channel axis direction.
  • an area laser sensor (second sensor) is taken as the origin O, and the driving direction of the vehicle is the positive direction.
  • Other sensors or devices are arranged in this coordinate system and have a position coordinate.
  • the first sensor for acquiring vehicle shape data is arranged at the S position, and the sensor may be a measuring light curtain, a line array camera or an area laser sensor.
  • the system contains three types of control points: 1The trigger control point R, 2The beam control point P, 3The beam stop control point Q .
  • the three control points can be multiple.
  • the number of R points and Q points can be determined by the number of main beams of the ray source; the number of P points is determined by the number of main beams and the refined scanning process.
  • the number of Q points can also be determined by the number of main beams and the requirements of the refined scanning process.
  • the system sends out the vehicle arrival message, and the scan control system starts the corresponding process, such as starting to increase the high pressure.
  • the way to determine the position of the switching mode may include the following two:
  • Lp r is the additional protection avoidance length, the minimum value can be set to 0.
  • b n is the ray source identification, n is a positive integer, and 1 ⁇ n ⁇ j, j is the number of ray sources.
  • the scanning control subsystem adopts the corresponding control strategy, such as beam control, low and high dose switching control.
  • Ls is the distance between the second sensor and the first sensor
  • Lb n is the distance between the ray source and the second sensor
  • Ls-Lb n is the distance between the ray source and the second sensor.
  • R, P, and Q points can be determined according to the business needs of the scanning process, and there is no requirement for the position relationship between them.
  • R is set at a certain point in the negative direction of the ray source
  • P and Q are set at a certain point in the positive direction of the main beam of ray.
  • P and Q can coincide; considering the system calculation, data transmission and system running time, combined with the maximum speed of the vehicle, B n
  • the control strategy of the X-ray container/vehicle inspection system can be enriched, the amount of civil construction and the difficulty of system installation and debugging can be reduced, and the workload can be reduced, especially for two-way systems. , It supports the multiplexing of some sensors and reduces the overall cost of the system.
  • the output of multiple control points can enrich the scanning process control strategy and improve the control accuracy; Real-time monitoring of the state of vehicles in the channel, greatly improving the reaction speed to abnormal working conditions such as parking and reversing.
  • the vehicle contour information acquiring unit 401 can acquire vehicle contour information through the first sensor measured perpendicular to the direction of the passage, and determine the characteristic points of the vehicle according to the vehicle contour information.
  • the characteristic points may include one or more of the rear edge of the cab, the front edge of the cargo warehouse, the rear edge of the vehicle, and the like.
  • the vehicle position determining unit 402 can determine the position of the vehicle in the passage through the second sensor measured along the direction of the passage, and determine the position of the feature point according to the position of the vehicle in the passage.
  • the position of the front edge of the vehicle or the rear edge of the vehicle may be determined first, and then the distance between the front edge of the vehicle or the rear edge of the vehicle and the feature point is determined according to the vehicle profile information, so as to pass the detected position of the front edge of the vehicle or the rear edge of the vehicle Changes to reflect the changes in the location of feature points.
  • the working mode determining unit 403 can switch the working mode of the ray source based on a predetermined strategy according to the position relationship of the feature point and the position of the ray source.
  • Such a vehicle inspection control device can obtain the position and side profile of the vehicle based on the detection results of the first and second sensors, and then determine the timing of switching the working mode of the radiation source through position matching, and improve the accuracy of the determined working mode switching timing.
  • the vehicle inspection control device includes a memory 501 and a processor 502.
  • the memory 501 may be a magnetic disk, flash memory or any other non-volatile storage medium.
  • the memory is used to store the instructions in the corresponding embodiment of the above vehicle inspection method.
  • the processor 502 is coupled to the memory 501 and can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller.
  • the processor 502 is configured to execute instructions stored in the memory, and can improve the accuracy of the determined operating mode switching timing.
  • the vehicle inspection control device 600 includes a memory 601 and a processor 602.
  • the processor 602 is coupled to the memory 601 through the BUS bus 603.
  • the vehicle inspection control device 600 can also be connected to an external storage device 605 through the storage interface 604 to call external data, and can also be connected to a network or another computer system (not shown) through the network interface 606. No more detailed introduction here.
  • the memory stores the data instructions, and the processor processes the above instructions, which can improve the accuracy of the determined operating mode switching timing.
  • a computer-readable storage medium has computer program instructions stored thereon, and when the instructions are executed by a processor, the steps of the method in the corresponding embodiments of the vehicle inspection method are realized.
  • the embodiments of the present disclosure may be provided as methods, devices, or computer program products. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.
  • the present disclosure may take the form of a computer program product implemented on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. .
  • FIG. 7 A schematic diagram of some embodiments of the vehicle inspection system of the present disclosure is shown in FIG. 7.
  • the vehicle inspection system may include a first sensor 71, a second sensor 72, a radiation source 73, and any of the vehicle inspection devices 74 mentioned above.
  • the first sensor 71 measures perpendicular to the channel direction and can obtain vehicle contour information;
  • the second sensor 72 measures along the channel direction and can determine the position of the vehicle in the channel;
  • the ray source 73 is located in the direction away from the entrance of the first sensor and can emit rays to the channel bundle.
  • Such a vehicle inspection system can obtain the position and side profile of the vehicle through the first sensor and the second sensor, and then can determine the time for switching the working mode of the radiation source according to the vehicle profile, and improve the accuracy of the determined working mode switching time.
  • the first sensor may be a measuring light curtain, a line scan camera or an area laser sensor
  • the second sensor may be a two-dimensional or three-dimensional area laser sensor installed horizontally.
  • multiple second sensors may be deployed in the passage, so as to realize the distance detection of multiple vehicles in the passage and improve the efficiency of vehicle detection.
  • two first sensors are deployed, and the radiation source is between the two first sensors, so as to achieve two-way detection, expand the applicable scenarios of the system, and reduce the overall cost of the system.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.
  • the method and apparatus of the present disclosure may be implemented in many ways.
  • the method and apparatus of the present disclosure can be implemented by software, hardware, firmware or any combination of software, hardware, and firmware.
  • the above-mentioned order of the steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless specifically stated otherwise.
  • the present disclosure may also be implemented as programs recorded in a recording medium, and these programs include machine-readable instructions for implementing the method according to the present disclosure.
  • the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

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  • Length Measuring Devices By Optical Means (AREA)
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Abstract

本公开提出一种车辆检查方法、装置、系统和计算机可读存储介质，涉及安检技术领域。本公开的一种车辆检查方法包括：通过垂直于通道方向测量的第一传感器获取车辆轮廓信息，根据车辆轮廓信息确定车辆的特征点；通过沿通道方向测量的第二传感器确定车辆在通道内的位置，根据车辆在通道内的位置确定特征点的位置；根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式。通过这样的方法，能够基于第一、第二传感器的探测结果得到车辆的位置和侧面轮廓，继而确定切换射线源工作模式的时机，提高确定的工作模式切换时机的准确度。

Description

车辆检查方法、装置、系统和计算机可读存储介质
相关申请的交叉引用
本申请是以CN申请号为201910279867.8，申请日为2019年4月9日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及安检技术领域，特别是一种车辆检查方法、装置、系统和计算机可读存储介质。
背景技术
载货汽车驾驶室避让系统通常用于车辆X射线快速检查中，车辆自行通过X射线检查区域，检查系统在驾驶室通过时，以较低剂量发出射线或不发出射线；待车辆驾驶室通过设定位置后，系统再正常出束，以达到辐射防护中对司机单次吸收剂量的限制要求。
发明内容
根据本公开的一些实施例的一个方面，提出一种车辆检查方法，包括：通过垂直于通道方向测量的第一传感器获取车辆轮廓信息，根据车辆轮廓信息确定车辆的特征点；通过沿通道方向测量的第二传感器确定车辆在通道内的位置，根据车辆在通道内的位置确定特征点的位置；根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式。
在一些实施例中，车辆检查方法还包括：在确定车辆进入通道的情况下，预热射线源。
在一些实施例中，车辆检查方法还包括：在确定车辆在通道内的位置到达预定封触发点时，停止预热射线源，进入正常工作状态，其中，封触发点位于射线源与通道入口之间。
在一些实施例中，根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式包括：根据特征点的位置与射线源的位置关系，确定触发切换射线源的工作模式时的停束控制点或出束控制点；当根据第一传感器的探测结果确定车辆前 沿到达停束控制点或出束控制点，或车辆后沿到达停束控制点或出束控制点时，基于预定策略切换射线源的工作模式。
在一些实施例中，确定车辆前沿到达停束控制点或出束控制点，或车辆后沿到达停束控制点或出束控制点时，基于预定策略切换射线源的工作模式包括：当车辆前沿或车辆后沿的位置与对应的出束控制点相当时，控制射线源开始以下一模式发射射线；当车辆前沿或车辆后沿的位置与对应的停束控制点相当时，控制射线源停止以当前模式发射射线。
在一些实施例中，停束控制点和出束控制点位于射线源远离通道入口的一侧。
在一些实施例中，车辆检查方法还包括：根据预定策略确定工作模式切换的次数和每次切换中对应的车辆的特征点；停束控制点和出束控制点的数量与工作模式切换的次数相匹配。
在一些实施例中，第一传感器位于射线源靠近通道入口的一侧，且射线源与第一传感器之间的距离不小于预定距离门限。
在一些实施例中，特征点包括驾驶室后沿；根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式包括：根据车辆轮廓信息中驾驶室后沿的位置确定驾驶室长度，确定当驾驶室后沿位置与射线源相当时的车辆前沿位置为出束控制点；当车辆前沿与出束控制点位置相当时，控制射线源开始发射射线。
在一些实施例中，特征点包括驾驶室后沿；根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式包括：根据车辆轮廓信息中驾驶室后沿的位置确定驾驶室长度，确定当驾驶室后沿位置与射线源相当时的车辆后沿位置为出束控制点；当车辆后沿与出束控制点位置相当时，控制射线源开始发射射线。
在一些实施例中，特征点包括车辆后沿；根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式包括：根据车辆轮廓信息中车辆后沿的位置，确定当车辆后沿与射线源位置相当时车辆后沿的位置，作为停束控制点；当车辆后沿与停束控制点的位置相当时，控制射线源停止发射射线。
在一些实施例中，特征点包括车辆后沿；根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式包括：根据车辆轮廓信息中车辆后沿的位置确定车辆长度，确定当车辆后沿与射线源位置相当时车辆前沿的位置，作为停束控制点；当车辆前沿与停束控制点的位置相当时，控制射线源停止发射射线。
根据本公开的另一些实施例的一个方面，提出一种车辆检查控制装置，包括：车 辆轮廓信息获取单元，被配置为通过垂直于通道方向测量的第一传感器获取车辆轮廓信息，根据车辆轮廓信息确定车辆的特征点；车辆位置确定单元，被配置为通过沿通道方向测量的第二传感器确定车辆在通道内的位置，根据车辆在通道内的位置确定特征点的位置；工作模式确定单元，被配置为根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式。
根据本公开的又一些实施例的一个方面，提出一种车辆检查控制装置，包括：存储器；以及耦接至存储器的处理器，处理器被配置为基于存储在存储器的指令执行上文中任意一种车辆检查方法。
根据本公开的再一些实施例的一个方面，提出一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现上文中任意一种车辆检查方法的步骤。
另外，根据本公开的一些实施例的一个方面，提出一种车辆检查系统，包括：垂直于通道方向测量，用于获取车辆轮廓信息的第一传感器；沿通道方向测量，用于确定车辆在通道内的位置的第二传感器；位于第一传感器远离入口方向，向通道发射射线束的射线源；和，上文中任意一种车辆检查控制装置。
在一些实施例中，车辆检查系统中包括一个或多个第二传感器。
在一些实施例中，车辆检查系统中包括一个或多个所述射线源。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本公开的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开的车辆检查方法的一些实施例的流程图。
图2为本公开的车辆检查方法的另一些实施例的流程图。
图3A～3E为本公开的车辆检查方法的一些实施例的示意图。
图4为本公开的车辆检查控制装置的一些实施例的示意图。
图5为本公开的车辆检查控制装置的另一些实施例的示意图。
图6为本公开的车辆检查控制装置的又一些实施例的示意图。
图7为本公开的车辆检查系统的一些实施例的示意图。
具体实施方式
下面通过附图和实施例，对本公开的技术方案做进一步的详细描述。
相关技术中可以采用以下方式实现检测过程中对驾驶室的避让：
①采用多套光电传感器、光幕或者区域激光传感器，分区段对车辆进行测速和定位；
②使用一组测量光幕，在车辆行进过程中绘制侧面投影二值图；
③使用车型识别算法，得出车辆类型判断和驾驶室长度数据；
④结合驾驶室长度，车辆位置和车辆速度信息，在设置位置给出驾驶室避让信号。
这些方式在实现中需要在扫描通道中安装多组光幕、光电传感器或区域激光传感器，占地面积大，涉及土建量大，成本高。车辆行进过程中采用区段测速方式，测速精度低；车辆位置靠最新触发的传感器加上速度乘以时间来确定，定位精度低。实用中，往往因为车速变化大，时间保护参数设置不合理等问题导致系统异常，进而造成提前出束产生安全风险，也可能延迟出束造成扫描成像缺失。
根据本公开的一些实施例，提供一种车辆检测过程中的模式切换方案，提高工作模式切换时机的准确度。
本公开的车辆检查方法的一些实施例的流程图如图1所示。
在步骤101中，通过垂直于通道方向测量的第一传感器获取车辆轮廓信息，根据车辆轮廓信息确定车辆的特征点。在一些实施例中，特征点可以包括驾驶室后沿、货仓前沿、车辆后沿等中的一项或多项。在一些实施例中，特征点可以为车辆上任意的需要切换射线源工作模式的位置。
在步骤102中，通过沿通道方向测量的第二传感器确定车辆在通道内的位置，根据车辆在通道内的位置确定特征点的位置。在一些实施例中，可以先确定车辆前沿或车辆后沿的位置，进而根据车辆轮廓信息确定车辆前沿或车辆后沿与特征点间的距离，从而通过探测到的车辆前沿或车辆后沿的位置变化来反映特征点位置的变化情况。在一些实施例中，第一、第二传感器可以为激光传感器。
在步骤103中，根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式。
通过这样的方法，能够基于第一、第二传感器的探测结果得到车辆的位置和侧面轮廓，继而通过位置匹配确定切换射线源工作模式的时机，提高确定的工作模式切换时机的准确度。另外，这样的方法所需要使用的传感器少，部署设备所需空间小，降 低了设备部署的成本，提高了部署的灵活度。
本公开的车辆检查方法的另一些实施例的流程图如图2所示。
在步骤201中，在确定车辆进入通道的情况下，预热射线源。在一些实施例中，预热状态下射线源可以以低剂量出束，从而降低射线源切换为正常工作状态的时延，提高模式切换的效率。
在步骤202中，在确定车辆在通道内的位置到达预定封触发点时，停止预热射线源，进入正常工作状态，其中，封触发点位于射线源与通道入口之间。在一些实施例中，封触发点可以位于第一传感器与射线源之间；在另一些实施例中，封触发点也可以位于第一传感器与通道入口之间。
在一些实施例中，可以在车辆到达预定封触发点后切换射线源进入低剂量工作状态，低剂量工作状态的辐射剂量满足对驾驶室探测的要求，从而实现接下来的对驾驶室的探测。
在步骤203中，通过垂直于通道方向测量的第一传感器获取车辆轮廓信息，根据车辆轮廓信息确定车辆的特征点。
在一些实施例中，可以根据预定策略确定工作模式切换的次数和每次切换中对应的车辆的特征点，确定的特征点可以为一个或多个。
在一些实施例中，步骤202与203之间没有执行的前后顺序，根据封触发点和第一传感器的位置的差异，当车辆(如车辆前沿)到达预定封触发点则执行步骤202；当车辆进入第一传感器的探测范围，则执行步骤203。
在一些实施例中，第一传感器可以为二维或三维的激光传感器。在一些实施例中，第一传感器为二维激光传感器，采用沿竖直方向扫描的方式探测道路方向，每完成一列扫描后生成一帧数据，每扫描帧数达到预定第一数量时，调用车辆轮廓识别算法生成车辆轮廓数据，直至完成整辆车的扫描，从而实现以一定的频率调用车辆轮廓识别算法，降低数据处理的资源消耗。
在步骤204中，通过沿通道方向测量的第二传感器确定车辆在通道内的位置，根据车辆在通道内的位置确定特征点的位置。
在一些实施例中，步骤203和204的探测操作之间没有前后顺序，根据车辆在通道内的位置确定特征点的位置的操作需要在根据车辆轮廓信息确定了车辆的对应特征点之后进行。
在步骤205中，根据特征点的位置与射线源的位置关系，确定触发切换射线源的 工作模式时的停束控制点或出束控制点。在一些实施例中，停束控制点、出束控制点可以为当特征点的位置与射线源的位置相当时，车辆前沿或车辆后沿的位置。由于车辆前沿、车辆后沿的位置便于测量，在车辆特征点到达射线源位置时无需再根据车辆轮廓参数计算位置特征点位置，提高了位置匹配的效率。
在一些实施例中，可以根据第二传感器与车辆的位置关系确定探测车辆前沿位置或车辆后沿位置，如，当车辆朝向第二传感器运动且未到达第二传感器位置时，可以探测车辆前沿位置；当车辆朝远离第二传感器的方向运动离开第二传感器位置时，可以探测车辆后沿位置；当车辆正在经过第二传感器时，可以任意选择探测车辆前沿或车辆后沿，或探测车辆前沿、车辆后沿中与第二传感器较近的一端。
在一些实施例中，第一传感器可以在完成车辆驾驶室部分的扫描后停止采集车辆轮廓信息，由第二传感器获取车辆的位置信息。通过这样的方法，能够降低对第一传感器采集数据的处理量，降低系统负担，也提高传感器的使用寿命。
在一些实施例中，可以根据确定的特征点的数量确定停束控制点和出束控制点的数量。在一些实施例中，特征点的数量可以等于停束控制点和出束控制点数量之和。
在步骤206中，当根据第一传感器的探测结果确定车辆前沿到达停束控制点或出束控制点，或车辆后沿到达停束控制点或出束控制点时，基于预定策略切换射线源的工作模式。
在一些实施例中，当车辆前沿或车辆后沿的位置与对应的出束控制点相当时，控制射线源开始以下一模式发射射线；当车辆前沿或车辆后沿的位置与对应的停束控制点相当时，控制射线源停止以当前模式发射射线。
在一些实施例中，可以生成工作模式、与包括车辆前沿或车辆后沿在内的标识点、以及与出束控制点或停束控制点的对应关系，如当车辆前沿到达第一出束控制点时，启用第一工作模式，当车辆前沿到达第二出束控制点时，切换为第二工作模式，当车辆后沿到达第一停束控制点时，采用第三工作模式等，从而实现工作模式的迅速确定和切换。
在一些实施例中，不同的工作模式可以包括采用的射线源不同，射线强度不同，射线扫描方式不同等。
通过这样的方法，能够利用特征点与包括车辆前沿或车辆后沿在内的标识点之间的距离，以及射线源的位置确定控制点的位置，进而当车辆前沿或车辆后沿到达对应控制点时及时切换射线源的工作状态，提高射线源工作模式切换的及时性和准确度， 避免提前出束产生安全风险或延迟出束造成扫描成像缺失。
在一些实施例中，如图3A～3E所示，可以沿通道轴线方向建立一维坐标系。以图3A示布局为例，一个区域激光传感器(第二传感器)作为原点O，车辆行驶方向为正方向。其他传感器或设备布置在这个坐标系中，拥有一个位置坐标。用于获取车辆外形数据的第一传感器布置在S位置，该传感器可以是测量光幕、线阵相机或者区域激光传感器。
以第一传感器为二维区域激光传感器为例，根据X射线发生装置的控制特点，系统中包含三类控制点：①封触发控制点R，②出束控制点P，③停束控制点Q。三种控制点都可以是多个，在一些实施例中，R点和Q点的数量可以由射线源主束的数量来决定；P点的个数由主束数量和精细化扫描的流程需要来决定，在一些实施例中，Q点的数量也可以由主束数量和精细化扫描的流程需要来决定。
当车辆进入通道，到达通道入口(Enter)位置时，系统发出车辆到达信息，扫描控制系统开始启动相应的流程，比如开始加高压。
如图3B所示，当车辆到达S位置时，开始积累车辆侧轮廓数据，达到设定帧数后调用车辆轮廓识别算法；积累达到两倍设定帧数后再次调用识别算法，直至算法中给出找到驾驶室后沿信息和车辆前沿长度L信息等识别结果，从而实现每扫描预定数量帧调用识别算法。
如图3C所示，当车辆到达R 1、R 2……R i位置时(i为R点的数量，i为正整数，图中n为正整数，且1≤n≤i)，扫描控制分系统采用相应的控制策略，比如封触发。
如图3D所示，确定切换模式的位置的方式可以包括以下两种：
(1)根据获取的车辆前沿长度L，结合车辆前沿的实时位置信息，车辆前沿到达Lp n位置时，即为到达相应的控制点，扫描控制分系统采用相应的控制策略，其中，
Lp n＝Lb n-L-Lp r
Lp r为额外设置的保护避让长度，最小值可设置为0。b n为射线源标识，n为正整数，且1≤n≤j，j为射线源的数量。
(2)以找到驾驶室后沿的时间点开始，当车辆继续行驶Ls-Lb n+Lpr距离后，扫描控制分系统采用相应的控制策略，比如出束控制，低高剂量切换控制等。其中，Ls为第二传感器与第一传感器之间的距离，Lb n为射线源与第二传感器之间的距离，Ls-Lb n即射线源到第二传感器之间的距离。
如图3E所示，当车辆到达Exit(通道出口)位置时，系统发出车辆离开信息， 扫描控制系统开始启动相应的流程。
R、P、Q点位置可以根据扫描流程的业务需要来确定，且相互之间没有位置关系要求。通常R设置在射线源的负方向某点，P、Q设置在射线主束的正方向某点，P和Q可以重合；考虑系统计算、数据传输和系统运行时间，结合车辆最大速度，B n与S之间的距离存在一个最小距离限值，最小距离限值不小于系统运算时间内车辆可行驶的距离。
通过这样的方法，可以使用较少的传感器，提供多个精确的控制点，丰富x射线集装箱/车辆检查系统控制策略，降低了土建使用量和系统安装调试难度，减少工作量，尤其对于双向系统，支持部分传感器复用，降低了系统综合成本。另外，通过这样的方法由于采集的图像更是多了车辆轮廓的深度信息，有利于复杂外形车辆驾驶室后沿的识别与定位；多控制点输出可以丰富扫描流程控制策略，提高了控制精度；实时监控通道内的车辆状态，对停车、倒车等异常工况的反应速度大大提升。
本公开的车辆检查控制装置的一些实施例的示意图如图4所示。车辆轮廓信息获取单元401能够通过垂直于通道方向测量的第一传感器获取车辆轮廓信息，根据车辆轮廓信息确定车辆的特征点。在一些实施例中，特征点可以包括驾驶室后沿、货仓前沿、车辆后沿等中的一项或多项。
车辆位置确定单元402能够通过沿通道方向测量的第二传感器确定车辆在通道内的位置，根据车辆在通道内的位置确定特征点的位置。在一些实施例中，可以先确定车辆前沿或车辆后沿的位置，进而根据车辆轮廓信息确定车辆前沿或车辆后沿与特征点间的距离，从而通过探测到的车辆前沿或车辆后沿的位置变化来反映特征点位置的变化情况。
工作模式确定单元403能够根据特征点的位置和射线源的位置关系，基于预定策略切换射线源的工作模式。
这样的车辆检查控制装置能够基于第一、第二传感器的探测结果得到车辆的位置和侧面轮廓，继而通过位置匹配确定切换射线源工作模式的时机，提高确定的工作模式切换时机的准确度。
本公开车辆检查控制装置的一些实施例的结构示意图如图5所示。车辆检查控制装置包括存储器501和处理器502。其中：存储器501可以是磁盘、闪存或其它任何非易失性存储介质。存储器用于存储上文中车辆检查方法的对应实施例中的指令。处理器502耦接至存储器501，可以作为一个或多个集成电路来实施，例如微处理器或 微控制器。该处理器502用于执行存储器中存储的指令，能够提高确定的工作模式切换时机的准确度。
在一些实施例中，还可以如图6所示，车辆检查控制装置600包括存储器601和处理器602。处理器602通过BUS总线603耦合至存储器601。该车辆检查控制装置600还可以通过存储接口604连接至外部存储装置605以便调用外部数据，还可以通过网络接口606连接至网络或者另外一台计算机系统(未标出)。此处不再进行详细介绍。
在该实施例中，通过存储器存储数据指令，再通过处理器处理上述指令，能够提高确定的工作模式切换时机的准确度。
在另一些实施例中，一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现车辆检查方法对应实施例中的方法的步骤。本领域内的技术人员应明白，本公开的实施例可提供为方法、装置、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开的车辆检查系统的一些实施例的示意图如图7所示。
车辆检查系统可以包括第一传感器71、第二传感器72，射线源73以及上文中提到的任意一种车辆检查装置74。第一传感器71垂直于通道方向测量，能够获取车辆轮廓信息；第二传感器72沿通道方向测量，能够确定车辆在通道内的位置；射线源73位于第一传感器远离入口方向，能够向通道发射射线束。
这样的车辆检查系统能够通过第一传感器、第二传感器得到车辆的位置和侧面轮廓，继而能够针对车辆轮廓确定切换射线源工作模式的时机，提高确定的工作模式切换时机的准确度。
在一些实施例中，第一传感器可以为测量光幕、线阵相机或者区域激光传感器，第二传感器可以为水平安装的二维或三维区域激光传感器。在一些实施例中，可以在通道内部署多个第二传感器，从而实现对通道内多个车辆的距离探测，提高车辆检测的效率。
在一些实施例中，部署两个第一传感器，射线源在两个第一传感器之间，从而实现双向探测，扩展系统的适用场景，降低了系统综合成本。
本公开是参照根据本公开实施例的方法、设备(系统)和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
至此，已经详细描述了本公开。为了避免遮蔽本公开的构思，没有描述本领域所公知的一些细节。本领域技术人员根据上面的描述，完全可以明白如何实施这里公开的技术方案。
可能以许多方式来实现本公开的方法以及装置。例如，可通过软件、硬件、固件或者软件、硬件、固件的任何组合来实现本公开的方法以及装置。用于所述方法的步骤的上述顺序仅是为了进行说明，本公开的方法的步骤不限于以上具体描述的顺序，除非以其它方式特别说明。此外，在一些实施例中，还可将本公开实施为记录在记录介质中的程序，这些程序包括用于实现根据本公开的方法的机器可读指令。因而，本公开还覆盖存储用于执行根据本公开的方法的程序的记录介质。
最后应当说明的是：以上实施例仅用以说明本公开的技术方案而非对其限制；尽管参照较佳实施例对本公开进行了详细的说明，所属领域的普通技术人员应当理解：依然可以对本公开的具体实施方式进行修改或者对部分技术特征进行等同替换；而不脱离本公开技术方案的精神，其均应涵盖在本公开请求保护的技术方案范围当中。

Claims (15)

  1. 一种车辆检查方法，包括：
    通过垂直于通道方向测量的第一传感器获取车辆轮廓信息，根据所述车辆轮廓信息确定车辆的特征点；
    通过沿通道方向测量的第二传感器确定车辆在通道内的位置，根据所述车辆在通道内的位置确定所述特征点的位置；
    根据所述特征点的位置和所述射线源的位置关系，基于预定策略切换所述射线源的工作模式。
  2. 根据权利要求1所述的车辆检查方法，还包括：在确定车辆进入通道的情况下，预热所述射线源。
  3. 根据权利要求2所述的车辆检查方法，还包括：
    在确定所述车辆在通道内的位置到达预定封触发点时，停止预热所述射线源，进入正常工作状态，其中，所述封触发点位于所述射线源与通道入口之间。
  4. 根据权利要求1所述的车辆检查方法，所述根据所述特征点的位置和所述射线源的位置关系，基于预定策略切换所述射线源的工作模式包括：
    根据所述特征点的位置与所述射线源的位置关系，确定触发切换所述射线源的工作模式时的停束控制点或出束控制点；
    当根据所述第一传感器的探测结果确定车辆前沿到达停束控制点或出束控制点，或车辆后沿到达停束控制点或出束控制点时，基于预定策略切换所述射线源的工作模式。
  5. 根据权利要求4所述的车辆检查方法，其中，所述确定车辆前沿到达停束控制点或出束控制点，或车辆后沿到达停束控制点或出束控制点时，基于预定策略切换所述射线源的工作模式包括：
    当车辆前沿或车辆后沿的位置与对应的所述出束控制点相当时，控制所述射线源开始以下一模式发射射线；
    当车辆前沿或车辆后沿的位置与对应的所述停束控制点相当时，控制所述射线源停止以当前模式发射射线。
  6. 根据权利要求4或5所述的车辆检查方法，其中，
    所述停束控制点和出束控制点位于所述射线源远离通道入口的一侧。
  7. 根据权利要求4或5所述的车辆检查方法，还包括：
    根据预定策略确定工作模式切换的次数和每次切换中对应的车辆的特征点；
    所述停束控制点和出束控制点的数量与所述工作模式切换的次数相匹配。
  8. 根据权利要求1所述的车辆检查方法，其中，所述第一传感器位于所述射线源靠近通道入口的一侧，且所述射线源与所述第一传感器之间的距离不小于预定距离门限。
  9. 根据权利要求1所述的车辆检查方法，其中，所述特征点包括驾驶室后沿；
    所述根据所述特征点的位置和所述射线源的位置关系，基于预定策略切换所述射线源的工作模式包括：
    根据车辆轮廓信息中驾驶室后沿的位置确定驾驶室长度，确定当所述驾驶室后沿位置与所述射线源相当时的车辆前沿位置为出束控制点；当车辆前沿与所述出束控制点位置相当时，控制所述射线源开始发射射线；
    或
    根据车辆轮廓信息中驾驶室后沿的位置确定驾驶室长度，确定当所述驾驶室后沿位置与所述射线源相当时的车辆后沿位置为出束控制点；当车辆后沿与所述出束控制点位置相当时，控制所述射线源开始发射射线。
  10. 根据权利要求1所述的车辆检查方法，其中，所述特征点包括车辆后沿；
    所述根据所述特征点的位置和所述射线源的位置关系，基于预定策略切换所述射线源的工作模式包括：
    根据车辆轮廓信息中车辆后沿的位置，确定当所述车辆后沿与所述射线源位置相当时车辆后沿的位置，作为停束控制点；当车辆后沿与所述停束控制点的位置相当时，控制所述射线源停止发射射线；
    或，
    根据车辆轮廓信息中车辆后沿的位置确定车辆长度，确定当所述车辆后沿与所述射线源位置相当时车辆前沿的位置，作为停束控制点；当车辆前沿与所述停束控制点的位置相当时，控制所述射线源停止发射射线。
  11. 一种车辆检查控制装置，包括：
    车辆轮廓信息获取单元，被配置为通过垂直于通道方向测量的第一传感器获取车 辆轮廓信息，根据所述车辆轮廓信息确定车辆的特征点；
    车辆位置确定单元，被配置为通过沿通道方向测量的第二传感器确定车辆在通道内的位置，根据所述车辆在通道内的位置确定所述特征点的位置；
    工作模式确定单元，被配置为根据所述特征点的位置和所述射线源的位置关系，基于预定策略切换所述射线源的工作模式。
  12. 一种车辆检查控制装置，包括：
    存储器；以及
    耦接至所述存储器的处理器，所述处理器被配置为基于存储在所述存储器的指令执行如权利要求1至10任一项所述的方法。
  13. 一种计算机可读存储介质，其上存储有计算机程序指令，该指令被处理器执行时实现权利要求1至10任意一项所述的方法的步骤。
  14. 一种车辆检查系统，包括：
    垂直于通道方向测量，用于获取车辆轮廓信息的第一传感器；
    沿通道方向测量，用于确定车辆在通道内的位置的第二传感器；
    位于所述第一传感器远离入口方向，向通道发射射线束的射线源；
    和，
    权利要求11或12所述的车辆检查控制装置。
  15. 根据权利要求14所述的车辆检查系统，其中，车辆检查系统还符合以下至少一项：
    所述车辆检查系统中包括一个或多个所述第二传感器；
    所述车辆检查系统中包括一个或多个所述射线源。
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